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@stephane-caron stephane-caron released this 15 Nov 10:00
· 238 commits to main since this release
v2.0.0
cafb09a

This release adds joint kinetic friction modeling to the Bullet simulation, covered by unit tests. It also introduces logging of the configuration dictionary every time a spine is reset, and two breaking changes cleaning up unused parts of the API.

Added

  • BulletInterface: Model joint kinetic friction
  • BulletInterface: Unit tests for joint torque computations
  • Log configuration dictionary every time the spine is reset

Removed

  • Breaking: Narrow down Bullet interface to a single control mode (torque)
  • Breaking: Remove pi32_config as 64-bit is the new default
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